Evolution of Efficient Gait with Humanoids using Visual Feedback

Abstract

In this paper we present the autonomous, walking humanoids Priscilla, ELVIS and ELVINA and an experiment using evolutionary adaptive systems. We also present the anthropomorphic principles behind our humanoid project and the multistage development methodology. The adaptive evolutionary system used is a steady state evolutionary strategy running on the robot’s onboard computer. Individuals are evaluated and fitness scores are automatically determined using the robots onboard digital cameras and near-infrared range sensor. The experiments are performed in order to optimize a by hand developed locomotion controller. By using this system, we evolved gait patterns that locomote the robot in a straighter path and in a more robust way, than the previously manually developed gait did.